Water pipeline dredging robot

Abstract

The application provides a water conservancy pipeline dredging robot, and relates to the field of dredging robots.The water conservancy pipeline dredging robot comprises a vehicle body, walking wheels are installed on the vehicle body, and a caterpillar band is connected to the outside of the walking wheels.The front side of the vehicle body is provided with a first dredging bucket and a second dredging bucket.The two ends of the first dredging bucket are fixedly connected with rotating shafts.The two sides of the first dredging bucket are provided with mounting racks.The mounting racks are fixedly connected with the vehicle body at one end.The rotating shafts are rotatably connected with the mounting racks.The mounting racks are fixedly connected with first motors.In the initial state, the rotating arm is in a vertical state, and at this time, the second dredging bucket is directly above the first dredging bucket.Then, the first dredging bucket is used for dredging until the first dredging bucket is filled.After that, the adjusting mechanism is opened, so that the rotating arm is rotated to be horizontal.At this time, the first permanent magnet and the second permanent magnet do not correspond, so that under the action of gravity, the pressing block falls and presses the push-button switch.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dredging robots, in particular to a water conservancy pipeline dredging robot. BACKGROUND

[0002] Many urban drainage pipeline dredging and dredging work is still generally in the backward state of manual operation, with high labor intensity and low efficiency; in the process of cleaning the drainage pipeline, if a robot is used to dredge the drainage pipeline, the harm of the harsh environment to the workers will be greatly reduced, which will help to improve the sewage capacity of the urban drainage pipeline. SUMMARY

[0003] (I) Technical problems solved

[0004] In view of the deficiencies of the prior art, the present application provides a water conservancy pipeline dredging robot, which solves the problems raised in the background art.

[0005] (II) Technical scheme

[0006] In order to achieve the above purpose, the present application is realized by the following technical scheme: a water conservancy pipeline dredging robot, comprising a vehicle body, a walking wheel is installed on the vehicle body, a track is connected outside the walking wheel, a first dredging bucket and a second dredging bucket are arranged on the front side of the vehicle body, rotating shafts are fixedly connected at both ends of the first dredging bucket, mounting brackets are arranged on both sides of the first dredging bucket, one end of the mounting bracket is fixedly connected with the vehicle body, the rotating shafts are rotatably connected with the mounting brackets, a first motor is fixedly connected on the mounting bracket, the first motor is connected with the rotating shafts in linkage, rotating arms are symmetrically arranged on both sides of the first dredging bucket, one end of the rotating arm is rotatably connected with the rotating shaft, and the other end of the rotating arm is connected with the second dredging bucket, and an adjusting mechanism for adjusting the relative position of the second dredging bucket and the first dredging bucket is arranged on the vehicle body.

[0007] Preferably, the rotating arm is fixedly connected with the side surface of the second dredging bucket, and when the rotating arm is in a vertical state, the opening of the second dredging bucket faces upward, and the second dredging bucket is located directly above the first dredging bucket.

[0008] Preferably, the adjusting mechanism comprises a winding wheel, a steel cable, a fixed seat and a second motor, the fixed seat is fixedly connected to the top of the vehicle body, the winding wheel is rotatably connected to the fixed seat, the second motor for driving the winding wheel to rotate is fixedly connected to one side of the fixed seat, the second motor is connected with the winding wheel in linkage, one end of the steel cable is fixedly connected with the winding wheel, and the other end of the steel cable is fixedly connected with the second dredging bucket.

[0009] Preferably, a guide wheel is fixedly connected to the top of the front side of the vehicle body.

[0010] Preferably, the push force assembly for pushing the rotating arm in vertical state to horizontal state is further included, the push force assembly comprises an outer cylinder, a spring, a sliding block, a top post, the outer cylinder is embedded in the front end of the vehicle body and is horizontally arranged, the sliding block is slidingly fitted in the inner part of the outer cylinder, the spring is fixedly connected between the sliding block and the bottom of the outer cylinder, and the top post is fixedly connected to the side of the sliding block away from the spring; when the rotating arm is in vertical state, the second dredging bucket presses the top post into the outer cylinder so that the spring is compressed; when the winding wheel reverses the wire, the top post is pushed out under the action of the spring so that the second dredging bucket is flipped to the front side, then the rotating arm continues to flip forward under the action of gravity until the rotating arm is in horizontal state, at this time, the second dredging bucket is located in front of the first dredging bucket.

[0011] Preferably, the push force assembly is arranged in multiple and the multiple push force assemblies are arranged at equal intervals.

[0012] Preferably, the top end of the top post is fixedly connected with a protective pad made of rubber.

[0013] Preferably, the control mechanism for assisting in controlling the first motor is further included, the control mechanism comprises a single-chip microcomputer, a button switch, a pressing block, a first permanent magnet, a second permanent magnet and a rotating block, the top of the mounting frame is provided with a containing cavity, the bottom of the containing cavity is fixedly connected with the button switch, the vehicle body is provided with the single-chip microcomputer, the single-chip microcomputer is electrically connected with the button switch and the first motor, when the button switch is pressed, the button switch sends a signal to the single-chip microcomputer, the single-chip microcomputer controls the first motor to switch the first dredging bucket between vertical state and horizontal state, the top of the button switch is provided with the pressing block, the top of the pressing block is fixedly connected with the first permanent magnet, the top end of the rotating arm is fixedly connected with the rotating block, the rotating block is embedded with the second permanent magnet, the first permanent magnet and the second permanent magnet are mutually attracted magnets, when the rotating arm is in vertical state, the rotating block is rotated to the top of the mounting frame, at this time, the first permanent magnet and the second permanent magnet correspond to each other, the pressing block is adsorbed on the top of the containing cavity under the action of magnetic force, when the rotating arm is flipped to the outside, the first permanent magnet and the second permanent magnet do not correspond to each other, so that the pressing block falls down and presses the button switch under the action of gravity.

[0014] (Three) beneficial effects

[0015] The application provides a water conservancy pipeline dredging robot.

[0016] 1. The water pipeline dredging robot, in the initial state, the rotating arm is in vertical state, at this time the second dredging bucket is directly above the first dredging bucket, then the first dredging bucket is used for dredging, until the first dredging bucket is full, the adjusting mechanism is opened, so that the rotating arm is rotated to horizontal, at this time the first permanent magnet and the second permanent magnet do not correspond, so that under the action of gravity, the pressing block falls down and presses the button switch, when the button switch is pressed, the button switch sends a signal to the single-chip microcomputer, the single-chip microcomputer controls the first motor to make the first dredging bucket become vertical, then the second dredging bucket is used for dredging, when the second dredging bucket is full, the adjusting mechanism is opened, the adjusting mechanism controls the rotating arm to become vertical again, at the same time the first permanent magnet and the second permanent magnet correspond to each other, under the action of magnetic force, the pressing block is adsorbed on the top of the containing cavity, then the vehicle body retreats to the well mouth, then the rotating arm is changed to horizontal again through the adjusting mechanism, at this time the pressing block presses the button switch again, so that the first dredging bucket also becomes horizontal state, after the sludge in the second dredging bucket is loaded in the sludge lifting device, the rotating arm is adjusted to vertical state again, at this time the whole device returns to the initial state, then the sludge in the first dredging bucket is loaded in the sludge lifting device, the sludge lifting device carries the sludge out of the well, the robot continues to clean, in the dredging process of the present application, the first dredging bucket and the second dredging bucket cooperate to complete the dredging work together, the single dredging amount is large, and the dredging work efficiency is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 Structure diagram of the present application Figure 1 ;

[0018] Figure 2 Structure diagram of the present application Figure 2 ;

[0019] Figure 3 Structure diagram of the first dredging bucket and the second dredging bucket of the present application

[0020] Figure 4 Structure diagram of the present application

[0021] Figure 5 Structure diagram of the present application

[0022] Figure 6 Structure diagram of the present application Figure 5 Enlarged view of structure A in the present application

[0023] Figure 7 Structure diagram of the present application

[0024] In the diagram: 1. Vehicle body, 2. Traveling wheel, 3. Track, 4. Mounting frame, 5. First motor, 6. First sludge bucket, 7. Second sludge bucket, 8. Rotating arm, 9. Rotating block, 10. Guide wheel, 11. Fixed seat, 12. Winding wheel, 13. Second motor, 14. Steel cable, 15. Thrust assembly, 16. Rotating shaft, 17. Outer cylinder, 18. Spring, 19. Slider, 20. Top column, 21. Button switch, 22. Pressure block, 23. First permanent magnet, 24. Second permanent magnet. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0026] This invention provides a water pipeline dredging robot, such as... Figures 1-7 As shown, the vehicle includes a body 1, on which are mounted wheels 2. Tracks 3 are connected to the outside of the wheels 2. A first sludge bucket 6 and a second sludge bucket 7 are provided on the front side of the body 1. Rotating shafts 16 are fixedly connected to both ends of the first sludge bucket 6. Mounting frames 4 are provided on both sides of the first sludge bucket 6. One end of the mounting frame 4 is fixedly connected to the body 1, and the rotating shafts 16 are rotatably connected to the mounting frames 4. A first motor 5 is fixedly connected to the mounting frame 4. The first motor 5 is linked to the rotating shafts 16. Rotating arms 8 are symmetrically arranged on both sides of the first sludge bucket 6. One end of the rotating arm 8 is rotatably connected to the rotating shafts 16, and the other end of the rotating arm 8 is connected to the second sludge bucket 7. An adjustment mechanism is provided on the body 1 for adjusting the relative position of the second sludge bucket 7 and the first sludge bucket 6.

[0027] The rotating arm 8 is fixedly connected to the side of the second sludge bucket 7, and when the rotating arm 8 is in a vertical state, the opening of the second sludge bucket 7 faces upward, and the second sludge bucket 7 is located directly above the first sludge bucket 6.

[0028] The adjustment mechanism includes a winding wheel 12, a steel cable 14, a fixed base 11, and a second motor 13. The fixed base 11 is fixedly connected to the top of the vehicle body 1, and the winding wheel 12 is rotatably connected to the fixed base 11. A second motor 13 for driving the winding wheel 12 to rotate is fixedly connected to one side of the fixed base 11. The second motor 13 is linked to the winding wheel 12. One end of the steel cable 14 is fixedly connected to the winding wheel 12, and the other end of the steel cable 14 is fixedly connected to the second sludge bucket 7. With the adjustment mechanism, the position of the second sludge bucket 7 can be adjusted by winding and unwinding the steel cable 14 simply by controlling the rotation of the second motor 13.

[0029] In the initial state, the rotating arm 8 is in the vertical state, at this time the second dredging bucket 7 is directly above the first dredging bucket 6, then the first dredging bucket 6 is used for dredging until the first dredging bucket 6 is filled, then the adjusting mechanism is started, so that the rotating arm 8 is rotated to be horizontal, at this time the first permanent magnet 23 and the second permanent magnet 24 do not correspond, so that under the action of gravity, the pressing block 22 falls to press the button switch 21, when the button switch 21 is pressed, the button switch 21 sends a signal to the single-chip microcomputer, the single-chip microcomputer controls the first motor 5 so that the first dredging bucket 6 becomes vertical, then the second dredging bucket 7 is used for dredging, when the second dredging bucket 7 is filled, the adjusting mechanism is started, the adjusting mechanism controls the rotating arm 8 to return to the vertical state, at the same time the first permanent magnet 23 and the second permanent magnet 24 correspond to each other, under the action of the magnetic force, the pressing block 22 is adsorbed on the top of the containing cavity, then the vehicle body 1 retreats to the well mouth, then the adjusting mechanism is used to make the rotating arm 8 horizontal again, at this time the pressing block 22 presses the button switch 21 again, so that the first dredging bucket 6 also returns to the horizontal state, the sludge in the second dredging bucket 7 is loaded into the sludge lifting device, then the rotating arm 8 is adjusted to be vertical again, at this time the whole device returns to the initial state, then the sludge in the first dredging bucket 6 is loaded into the sludge lifting device, the sludge lifting device carries the sludge out of the well, the robot continues to clean, in the sludge dredging process of the present application, the first dredging bucket 6 and the second dredging bucket 7 cooperate to complete the dredging work, the single dredging capacity is large, and the dredging work efficiency is effectively improved.

[0030] The front top of the vehicle body 1 is fixedly connected with a wire guide wheel 10.

[0031] Further comprising a thrust assembly 15 for pushing the rotating arm 8 in the vertical state to the horizontal state, the thrust assembly 15 comprises an outer cylinder 17, a spring 18, a sliding block 19 and a top column 20, the outer cylinder 17 is embedded in the front end of the vehicle body 1, and the outer cylinder 17 is horizontally arranged, the sliding block 19 is slidably connected in the inner part of the outer cylinder 17, the spring 18 is fixedly connected between the sliding block 19 and the bottom of the outer cylinder 17, and the top column 20 is fixedly connected to the side of the sliding block 19 away from the spring 18, when the rotating arm 8 is in the vertical state, the second dredging bucket 7 presses the top column 20 into the outer cylinder 17, so that the spring 18 is compressed, when the wire guide wheel 12 is reversed to pay out the wire, the top column 20 is pushed out under the action of the spring 18, so that the second dredging bucket 7 is turned to the front side, then because the rotating arm 8 has been inclined, under the action of gravity, the rotating arm 8 continues to turn to the front side, until the rotating arm 8 is in the horizontal state, at this time the second dredging bucket 7 is located in front of the first dredging bucket 6.

[0032] The thrust assembly 15 is arranged in multiple, and the multiple thrust assemblies 15 are arranged at equal intervals.

[0033] The top end of the top column 20 is fixedly connected with a protective pad made of rubber.

[0034] Also include a control mechanism for assisting in controlling the first motor 5, the control mechanism includes a single-chip microcomputer, button switch 21, 22, the first permanent magnet 23, the second permanent magnet 24, rotating block 9, the top of the mounting frame 4 is provided with a containing cavity, and the bottom of the containing cavity is fixedly connected with the button switch 21, the single-chip microcomputer is arranged in the vehicle body 1, and the single-chip microcomputer is electrically connected with the button switch 21 and the first motor 5, when the button switch 21 is pressed, the button switch 21 sends a signal to the single-chip microcomputer, the single-chip microcomputer controls the first motor 5 to switch the first dredging bucket 6 between the vertical state and the horizontal state, the top of the button switch 21 is provided with the pressing block 22, the top of the pressing block 22 is fixedly connected with the first permanent magnet 23, the top end of the rotating arm 8 is fixedly connected with the rotating block 9, the rotating block 9 is inlaid with the second permanent magnet 24, and the first permanent magnet 23 and the second permanent magnet 24 are mutually attracted magnets, when the rotating arm 8 is in the vertical state, the rotating block 9 rotates to the top of the mounting frame 4, at this time, the first permanent magnet 23 and the second permanent magnet 24 correspond to each other, and the pressing block 22 is adsorbed on the top of the containing cavity under the action of the magnetic force, when the rotating arm 8 is turned outward, the first permanent magnet 23 and the second permanent magnet 24 do not correspond, so that the pressing block 22 falls under the action of gravity and presses the button switch 21.

[0035] Working principle: in the initial state, the rotating arm 8 is in the vertical state, at this time, the second dredging bucket 7 is directly above the first dredging bucket 6, then the first dredging bucket 6 is used for dredging until the first dredging bucket 6 is filled, the adjusting mechanism is started to rotate the rotating arm 8 to be horizontal, at this time, the first permanent magnet 23 and the second permanent magnet 24 do not correspond, so that the pressing block 22 falls under the action of gravity and presses the button switch 21, when the button switch 21 is pressed, the button switch 21 sends a signal to the single-chip microcomputer, the single-chip microcomputer controls the first motor 5 to make the first dredging bucket 6 vertical, then the second dredging bucket 7 is used for dredging, when the second dredging bucket 7 is filled, the adjusting mechanism is started, the adjusting mechanism controls the rotating arm 8 to return to the vertical state, at the same time, the first permanent magnet 23 and the second permanent magnet 24 correspond to each other, and the pressing block 22 is adsorbed on the top of the containing cavity under the action of the magnetic force, then the vehicle body 1 retreats to the well mouth, then the adjusting mechanism is used to make the rotating arm 8 horizontal again, at this time, the pressing block 22 presses the button switch 21 again, so that the first dredging bucket 6 also returns to the horizontal state, after the sludge in the second dredging bucket 7 is loaded in the sludge lifting device, the rotating arm 8 is adjusted to be vertical again, at this time, the whole device returns to the initial state, then the sludge in the first dredging bucket 6 is loaded in the sludge lifting device, the sludge lifting device carries the sludge out of the well, and the robot continues to clean, in the dredging process of the present application, the first dredging bucket 6 and the second dredging bucket 7 cooperate to complete the dredging work, the single dredging amount is large, and the dredging work efficiency is effectively improved.

[0036] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A water conservancy pipeline dredging robot, comprising a vehicle body (1), a walking wheel (2) is installed on the vehicle body (1), and an endless track (3) is connected to the outside of the walking wheel (2), characterized in that: The front side of the vehicle body (1) is provided with a first dredging bucket (6) and a second dredging bucket (7), both ends of the first dredging bucket (6) are fixedly connected with rotating shafts (16), both sides of the first dredging bucket (6) are provided with mounting racks (4), one end of the mounting rack (4) is fixedly connected with the vehicle body (1), the rotating shaft (16) is rotationally connected with the mounting rack (4), the mounting rack (4) is fixedly connected with a first motor (5), the first motor (5) is connected with the rotating shaft (16), both sides of the first dredging bucket (6) are symmetrically provided with rotating arms (8), one end of the rotating arm (8) is rotationally connected with the rotating shaft (16), and the other end of the rotating arm (8) is connected with the second dredging bucket (7), the vehicle body (1) is provided with an adjusting mechanism for adjusting the relative position of the second dredging bucket (7) and the first dredging bucket (6); It also includes a control mechanism for assisting in controlling the first motor (5), the control mechanism includes a single-chip microcomputer, a push button switch (21), a pressing block (22), a first permanent magnet (23), a second permanent magnet (24) and a rotating block (9), the top of the mounting rack (4) is provided with a containing cavity, and the bottom of the containing cavity is fixedly connected with the push button switch (21), the vehicle body (1) is provided with a single-chip microcomputer, and the single-chip microcomputer is electrically connected with the push button switch (21) and the first motor (5), when the push button switch (21) is pressed, the push button switch (21) sends a signal to the single-chip microcomputer, and the single-chip microcomputer controls the first motor (5) to switch the first dredging bucket (6) between the vertical state and the horizontal state, the top of the push button switch (21) is provided with the pressing block (22), the top of the pressing block (22) is fixedly connected with the first permanent magnet (23), the top of the rotating arm (8) is fixedly connected with the rotating block (9), the rotating block (9) is embedded with the second permanent magnet (24), and the first permanent magnet (23) and the second permanent magnet (24) are mutually attracted magnets, when the rotating arm (8) is in the vertical state, the rotating block (9) is rotated to the top of the mounting rack (4), at this time, the first permanent magnet (23) and the second permanent magnet (24) correspond to each other, and the pressing block (22) is adsorbed on the top of the containing cavity under the action of the magnetic force, when the rotating arm (8) is flipped outward, the first permanent magnet (23) and the second permanent magnet (24) do not correspond, so that the pressing block (22) falls under the action of gravity and presses the push button switch (21). In the initial state, the rotating arm (8) is in the vertical state, the opening of the second dredging bucket (7) faces upward, at this time the second dredging bucket (7) is directly above the first dredging bucket (6), then the first dredging bucket (6) is used for dredging, after the first dredging bucket (6) is filled, the adjusting mechanism is started, so that the rotating arm (8) is rotated to be horizontal, at this time the first permanent magnet (23) and the second permanent magnet (24) do not correspond, so that under the action of gravity, the pressing block (22) falls to press the button switch (21), when the button switch (21) is pressed, the button switch (21) sends a signal to the single-chip microcomputer, the single-chip microcomputer controls the first motor (5) to make the first dredging bucket (6) become vertical, then the second dredging bucket (7) is used for dredging, when the second dredging bucket (7) is filled, the adjusting mechanism is started, the adjusting mechanism controls the rotating arm (8) to return to the vertical state, at the same time the first permanent magnet (23) and the second permanent magnet (24) correspond to each other, under the action of the magnetic force, the pressing block (22) is adsorbed on the top of the containing cavity, then the vehicle body (1) retreats to the well mouth, then the rotating arm (8) is adjusted to be horizontal again through the adjusting mechanism, at this time the pressing block (22) presses the button switch (21) again, so that the first dredging bucket (6) also returns to the horizontal state, after the sludge in the second dredging bucket (7) is loaded into the sludge lifting device, the rotating arm (8) is adjusted to be vertical again, at this time the whole device returns to the initial state.

2. The water pipeline dredging robot according to claim 1, characterized in that: The rotating arm (8) is fixedly connected with the side surface of the second dredging bucket (7), and when the rotating arm (8) is in the vertical state, the opening of the second dredging bucket (7) faces upward, and the second dredging bucket (7) is directly above the first dredging bucket (6).

3. The water pipeline dredging robot according to claim 2, characterized in that: The adjusting mechanism comprises a winding wheel (12), a steel cable (14), a fixed seat (11) and a second motor (13), the fixed seat (11) is fixedly connected to the top of the vehicle body (1), the winding wheel (12) is rotatably connected to the fixed seat (11), the second motor (13) for driving the winding wheel (12) to rotate is fixedly connected to one side of the fixed seat (11), the second motor (13) is linked with the winding wheel (12), one end of the steel cable (14) is fixedly connected with the winding wheel (12), and the other end of the steel cable (14) is fixedly connected with the second dredging bucket (7).

4. The water pipeline dredging robot according to claim 3, characterized in that: The front top of the vehicle body (1) is fixedly connected with a wire guide wheel (10).

5. The water pipeline dredging robot according to claim 4, characterized in that: The application further comprises a thrust assembly (15) for pushing the rotating arm (8) in the vertical state to the horizontal state, the thrust assembly (15) comprises an outer cylinder (17), a spring (18), a sliding block (19) and a top post (20), the outer cylinder (17) is embedded in the front end of the vehicle body (1) and is horizontally arranged, the sliding block (19) is slidingly fitted in the inner part of the outer cylinder (17), the spring (18) is fixedly connected between the sliding block (19) and the bottom of the outer cylinder (17), and the top post (20) is fixedly connected to the side of the sliding block (19) away from the spring (18), when the rotating arm (8) is in the vertical state, the second dredging bucket (7) presses the top post (20) into the outer cylinder (17) so that the spring (18) is compressed, when the winding wheel (12) is reversed to pay out the wire, the top post (20) is pushed outwards under the action of the spring (18) so that the second dredging bucket (7) is flipped towards the front side, then the rotating arm (8) is continuously flipped forwards under the action of gravity until the rotating arm (8) is in the horizontal state, at this time, the second dredging bucket (7) is located in front of the first dredging bucket (6).

6. The water pipeline dredging robot according to claim 5, characterized in that: The thrust assembly (15) is arranged in multiple and the multiple thrust assemblies (15) are arranged at equal intervals.

7. The water pipeline dredging robot according to claim 6, characterized in that: The top end of the top post (20) is fixedly connected with a protective pad made of rubber.

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